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Robot-based assembly in construction has emerged as a promising solution to address numerous challenges such as increasing costs, labor shortages, and the demand for safe and efficient construction processes. One of the main obstacles in…
Multi-objective or multi-destination path planning is crucial for mobile robotics applications such as mobility as a service, robotics inspection, and electric vehicle charging for long trips. This work proposes an anytime iterative system…
Assembly planning is the core of automating product assembly, maintenance, and recycling for modern industrial manufacturing. Despite its importance and long history of research, planning for mechanical assemblies when given the final…
We introduce the Vehicle Routing Problem with Resource-Constrained Pickup and Delivery (VRP-RPD), where vehicles transport finite identical resources to customer locations for autonomous processing before retrieval and redeployment. Unlike…
Driving an automobile involves the tasks of observing surroundings, then making a driving decision based on these observations (steer, brake, coast, etc.). In autonomous driving, all these tasks have to be automated. Autonomous driving…
Navigation services utilized by autonomous vehicles or ordinary users require the availability of detailed information about road-related objects and their geolocations, especially at road intersections. However, these road intersections…
We present an algorithm that, given a representation of a road network in lane-level detail, computes a route that minimizes the expected cost to reach a given destination. In doing so, our algorithm allows us to solve for the complex…
Object rearrangement is a fundamental problem in robotics with various practical applications ranging from managing warehouses to cleaning and organizing home kitchens. While existing research has primarily focused on single-agent…
Connected automated vehicles (CAVs) could potentially be coordinated to safely attain the maximum traffic flow on roadways under dynamic traffic patterns, such as those engendered by the merger of two strings of vehicles due a lane drop.…
This paper introduces a new generic problem to the literature of Workforce Scheduling and Routing Problem. In this problem, multiple workers are assigned to a shared vehicle based on their qualifications and customer demands, and then the…
Provable safety is one of the most critical challenges in automated driving. The behavior of numerous traffic participants in a scene cannot be predicted reliably due to complex interdependencies and the indiscriminate behavior of humans.…
Technology of autonomous vehicles (AVs) is getting mature and many AVs will appear on the roads in the near future. AVs become connected with the support of various vehicular communication technologies and they possess high degree of…
In this paper we consider multiple Automated Guided Vehicles (AGVs) navigating a common workspace to fulfill various intralogistics tasks, typically formulated as the Multi-Agent Path Finding (MAPF) problem. To keep plan execution…
Unmanned aerial vehicles (UAVs) have significant practical advantages for delivering packages, and many logistics companies have begun deploying UAVs for commercial package deliveries. To deliver packages quickly and cost-effectively, the…
Electric, intelligent, and network are the most important future development directions of automobiles. Intelligent electric vehicles have shown great potentials to improve traffic mobility and reduce emissions, especially at unsignalized…
This study explores the problem of Multi-Agent Path Finding with continuous and stochastic travel times whose probability distribution is unknown. Our purpose is to manage a group of automated robots that provide package delivery services…
Trajectory and intention prediction of traffic participants is an important task in automated driving and crucial for safe interaction with the environment. In this paper, we present a new approach to vehicle trajectory prediction based on…
Traffic congestion is a major challenge in modern urban settings. The industry-wide development of autonomous and automated vehicles (AVs) motivates the question of how can AVs contribute to congestion reduction. Past research has shown…
Self-driving vehicles are a maturing technology with the potential to reshape mobility by enhancing the safety, accessibility, efficiency, and convenience of automotive transportation. Safety-critical tasks that must be executed by a…
With recent advancements in the field of communications and the Internet of Things, vehicles are becoming more aware of their environment and are evolving towards full autonomy. Vehicular communication opens up the possibility for…